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基于逃逸角对抗的多智能体微分博弈协同围捕方法

杨惠珍 李建国 吴天宇 王子江 杨钧

杨惠珍, 李建国, 吴天宇, 等. 基于逃逸角对抗的多智能体微分博弈协同围捕方法[J]. 水下无人系统学报, 2024, 32(6): 1-10 doi: 10.11993/j.issn.2096-3920.2023-0142
引用本文: 杨惠珍, 李建国, 吴天宇, 等. 基于逃逸角对抗的多智能体微分博弈协同围捕方法[J]. 水下无人系统学报, 2024, 32(6): 1-10 doi: 10.11993/j.issn.2096-3920.2023-0142
YANG Huizhen, LI Jianguo, WU Tianyu, YANG Jun, WANG Zijiang. Cooperative Hunting Method for Multiple-Agents Using Differential Games Based on Escape Angle[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2023-0142
Citation: YANG Huizhen, LI Jianguo, WU Tianyu, YANG Jun, WANG Zijiang. Cooperative Hunting Method for Multiple-Agents Using Differential Games Based on Escape Angle[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2023-0142

基于逃逸角对抗的多智能体微分博弈协同围捕方法

doi: 10.11993/j.issn.2096-3920.2023-0142
基金项目: 水下信息与控制重点实验室基金项目资助(2021-JCJQ-LB-030-03).
详细信息
    作者简介:

    杨惠珍(1974-), 女, 博士, 副教授, 主要研究方向为水下机器人控制与仿真、多机器人系统

  • 中图分类号: TJ630.1; TP29

Cooperative Hunting Method for Multiple-Agents Using Differential Games Based on Escape Angle

  • 摘要: 针对单个对抗性目标主动逃逸问题, 利用微分博弈理论建立了多智能体协同围捕问题博弈模型, 在含有距离项支付函数中引入由逃逸角构成的合围项, 从而降低目标中途逃逸的概率; 然后将围捕问题转换为求解可实现策略的优化问题, 利用粒子群优化算法求解满足纳什均衡的最优策略, 仿真和湖上试验结果均证明了基于粒子群的微分博弈围捕算法的有效性。

     

  • 图  1  二维直角坐标系追逃几何模型

    Figure  1.  Two-dimensional Cartesian coordinate system pursuit-and-escape geometry

    图  2  协同围捕数量关系图

    Figure  2.  Diagram of the number of coordinated round-ups

    图  3  极坐标系下逃逸角示意图

    Figure  3.  Schematic diagram of the escape angle in a polar coordinate system

    图  4  围捕者使邻居逃逸角“均匀化”示意图

    Figure  4.  Schematic diagram of the round-up "homogenizing" the escape angle of the neighbor

    图  5  基于PSO的围捕路径流程图

    Figure  5.  Flow diagram of round-up path based on PSO

    图  6  文献[21]算法的围捕仿真实验图

    Figure  6.  Round-up simulation experiment diagram of the algorithm in Ref[21].

    图  7  文中改进算法的围捕仿真实验图

    Figure  7.  Round-up simulation experiment of the improved algorithm

    图  8  不同算法的可逃逸角曲线

    Figure  8.  Escape angle of the algorithm in Ref. [21]

    图  9  不同算法追逃最小距离对比图

    Figure  9.  Comparison chart of the minimum distance of pursuit and escape

    图  10  围捕实验平台总体方案

    Figure  10.  Overall scheme of the round-up experimental platform

    图  11  ASV航行器外观

    Figure  11.  Exterior of the ASV vehicle

    图  12  ASV航行器的Ardupilot底层控制代码架构

    Figure  12.  The underlying control code architecture of the Ardupilot of the ASV vehicle

    图  13  协同围捕信息转换

    Figure  13.  Collaborative round-up information transformatio

    图  14  实际围捕过程图

    Figure  14.  Diagram of the actual round-up proces

    表  1  航行器性能参数表

    Table  1.   Vehicle performance parameters

    性能指标数值单位
    外观尺寸510×180×115mm·mm·mm
    最大速度2.2m/s
    最大航时50min
    电池容量5 100mA·h
    最大续航里程4.5km
    最大通讯距离1.2km
    下载: 导出CSV
  • [1] Zhou J, Wu X, Lv Y, et al. Recent progress on the study of multi‐vehicle coordination in cooperative attack and defense: An overview[J]. Asian Journal of Control, 2022, 24(2): 794-809. doi: 10.1002/asjc.2685
    [2] 胡艳艳, 张莉, 夏辉, 等. 不完全信息下基于微分对策的机动目标协同捕获[J]. 航空学报, 2022, 43(S1): 53-64.

    Hu Yanyan, Zhang Li, Xia Hui, et al. Cooperative capture of maneuvering targets with incomplete information based on differential game[J]. Journal of Aeronautics and Astronautics, 2022, 43(S1): 53-64.
    [3] Mu Z, Pan J, Zhou Z, et al. A survey of the pursuit–evasion problem in swarm intelligence[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(8): 1093-1116.
    [4] Makkapati V R, Sun W, Tsiotras P. Optimal evading strategies for two-pursuer/one-evader problems[J]. Journal of Guidance, Control, and Dynamics, 2018, 41(4): 851-862. doi: 10.2514/1.G003070
    [5] Wei X, Yang J. Optimal strategies for multiple unmanned aerial vehicles in a pursuit/evasion differential game[J]. Journal of Guidance, Control, and Dynamics, 2018, 41(8): 1799-1806. doi: 10.2514/1.G003480
    [6] Isaacs R. Differential games[M]. New York, NY, USA: John Wiley and Sons, 1965.
    [7] Weintraub I E, Pachter M, Garcia E. An introduction to pursuit-evasion differential games[C]//2020 American Control Conference(ACC). Denver, USA: IEEE, 2020: 1049-1066.
    [8] Abrahamsen M, Holm J, Rotenberg E, et al. Escaping an infinitude of lions[J]. The American Mathematical Monthly, 2020, 127(10): 880-896. doi: 10.1080/00029890.2020.1820837
    [9] Zhou S, Li H, Chen Z. Optimal containment strategies on high-speed evader using multiple pursuers with point-capture[C]//2023 42nd Chinese Control Conference (CCC). Tianjin, China: IEEE, 2023: 1-6.
    [10] Liang L, Deng F, Peng Z, et al. A differential game for cooperative target defense[J]. Automatica, 2019, 102: 58-71. doi: 10.1016/j.automatica.2018.12.034
    [11] Jin S, Qu Z. Pursuit-evasion games with multi-pursuer vs. one fast evader[C]//2010 8th World Congress on Intelligent Control and Automation. Jinan, China: IEEE, 2010: 3184-3189.
    [12] Fang B, Peng Q, Huang B, et al. Research on high-speed evader vs. multi lower speed pursuers in multi pursuit-evasion games[J]. Information Technology Journal, 2012, 11(8): 989. doi: 10.3923/itj.2012.989.997
    [13] Wang X, Cruz Jr J B, Chen G, et al. Formation control in multi-player pursuit evasion game with superior evaders[C]//Defense Transformation and Net-Centric Systems 2007. Orlando, Florida, USA: SPIE, 2007: 324-332.
    [14] Ramana M V, Kothari M. Pursuit-evasion games of high speed evader[J]. Journal of intelligent & robotic systems, 2017, 85: 293-306.
    [15] Wang H, Yue Q, Liu J. Research on pursuit-evasion games with multiple heterogeneous pursuers and a high speed evader[C]//The 27th Chinese control and decision conference(CCDC). Qingdao, China: IEEE, 2015: 4366-4370.
    [16] Vechalapu T R. A trapping pursuit strategy for capturing a high speed evader[C]//AIAA SciTech forum and exposition. Florida, U. S. : IEEE, 2020: 1-20.
    [17] Fang X, Wang C, Xie L, et al. Cooperative pursuit with multi-pursuer and one faster free-moving evader[J]. IEEE transactions on cybernetics, 2020, 52(3): 1405-1414.
    [18] Fang X, Cheng C, Xie L. 3-d multi-player pursuit-evasion game with a faster evader[C]//2020 39th Chinese Control Conference(CCC). Shenyang, China: IEEE, 2020: 118-123.
    [19] Yan F, Jiang J, Di K, et al. Multiagent pursuit-evasion problem with the pursuers moving at uncertain speeds[J]. Journal of Intelligent & Robotic Systems, 2019, 95: 119-135.
    [20] Han Y, Hong W, Yun Y D, et al. Research on multi-UUV pursuit-evasion games strategies under the condition of strongly manoeuvrable evader[C]//2021 40th Chinese Control Conference(CCC). Shanghai, China: IEEE, 2021: 5504-5511.
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  • 被引次数: 0
出版历程
  • 收稿日期:  2023-11-09
  • 修回日期:  2023-12-25
  • 录用日期:  2024-02-07
  • 网络出版日期:  2024-03-15

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